Motion pattern singularity in lower mobility parallel manipulators

DOI10.1007/978-1-4020-4941-5_53MaRDI QIDQ3196275zbMATH OpenOpenAlexFDO

Authors Oscar Altuzarra, Charles Pinto, Víctor Petuya, A. Hernández

Publication date 29 October 2015

Published in Advances in Robot Kinematics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/978-1-4020-4941-5_53

zbMATH Keywords

motion patternparallel manipulatorsplatform twistsingularities

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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• Twists of movements of parallel mechanisms inside their singularities
• Transitions in the velocity pattern of lower mobility parallel manipulators

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